Systems, methods, and computer-readable media for improved predictive modeling and navigation

Abstract

Disclosed are systems, methods, and computer-readable media for navigating to and interacting with a region of interest during a respiratory cycle of a patient. An exemplary system includes a percutaneous tool, a plurality of patient sensors disposed on the patient, a tracking module configured to determine location and motion data of the plurality of patient sensors and a tool coupled to the percutaneous tool, a display device, and a computing device configured to receive a plurality of images of the patient's body, receive the location and motion data determined by the tracking module, generate a model of the interior of the patient, determine likely movement of the interior of the patient, the percutaneous tool, and the region of interest throughout the respiratory cycle, and cause the display device to display a graphical user interface including a window for depicting movement throughout the respiratory cycle.

What is claimed is: 
     
       1. A system for navigating to and interacting with a region of interest during a respiratory cycle of a patient, the system comprising:
 a percutaneous tool including a tool sensor, the percutaneous tool configured for insertion into an interior of a patient and interaction with a region of interest during a surgical procedure; 
 an electromagnetic (EM) tracking system including:
 an EM field generator configured to generate an EM field; 
 a plurality of patient sensors disposed on the patient and movable within the EM field; and 
 a tracking module configured to determine location and motion data corresponding to the plurality of patient sensors and the tool sensor within the EM field; 
 
 a display device; and 
 a computing device including:
 at least one processor; and 
 a memory storing instructions which, when executed by the at least one processor, cause the computing device to:
 receive a plurality of images of the patient's body; 
 receive the location and motion data determined by the tracking module; 
 generate a three-dimensional (3D) model of at least a portion of the interior of the patient based on the plurality of images; 
 correlate a location of the plurality of patient sensors within the EM field at a maximum inhalation point and a location of the plurality of patient sensors within the EM field at a maximum exhalation point to the plurality of images; 
 predict movement of the interior of the patient, the percutaneous tool, and the region of interest throughout the respiratory cycle based on the correlation between the location of the plurality of patient sensors within the EM field at the maximum inhalation point and the location of the plurality of patient sensors within the EM field at the maximum exhalation point to the plurality of images; and 
 cause the display device to display a graphical user interface (GUI) including:
 a model window for displaying a rendering of the 3D model generated depicting movement of the interior of the patient, the percutaneous tool, and the region of interest throughout the respiratory cycle, wherein the rendering is user-manipulatable to display selective tissue, organs, or bones within the region of interest; and 
 a user-selectable button enabling a user to select a phase of the respiratory cycle and configured to stop movement of the rendering and display an image of the plurality of images of the patient's body associated with the phase selected. 
 
 
 
 
     
     
       2. The system according to  claim 1 , wherein the respiratory cycle is divided into an inhalation phase and an exhalation phase, and each image of the plurality of images correspond to either the inhalation phase or the exhalation phase. 
     
     
       3. The system according to  claim 2 , wherein the instructions, when executed by the at least one processor, further cause the computing device to predict movement of the interior of the patient and the region of interest throughout the respiratory cycle based on the location and motion data of the plurality of patient sensors and the 3D model of the interior of the patient. 
     
     
       4. The system according to  claim 3 , wherein the instructions, when executed by the at least one processor, further cause the computing device to predict movement of the percutaneous tool based on the predicted movement of the interior of the patient and the location and motion data of the tool sensor. 
     
     
       5. The system according to  claim 1 , wherein the model window is further configured to display a trajectory of the percutaneous tool. 
     
     
       6. The system according to  claim 5 , wherein the model window is further configured to display:
 a proposed trajectory of the percutaneous tool throughout the respiratory cycle; and 
 a proposed location of the region of interest throughout the respiratory cycle. 
 
     
     
       7. The system according to  claim 6 , wherein the proposed trajectory of the percutaneous tool and the proposed location of the region of interest change throughout the respiratory cycle. 
     
     
       8. The system according to  claim 6 , wherein the instructions, when executed by the at least one processor, further cause the computing device to determine interaction with the region of interest if the trajectory of the percutaneous tool is closely matched with the proposed trajectory of the percutaneous tool. 
     
     
       9. The system according to  claim 6 , wherein the instructions, when executed by the at least one processor, further cause the computing device to determine interaction with the region of interest based on the trajectory of the percutaneous tool, the proposed trajectory of the percutaneous tool, and the proposed location of the region of interest. 
     
     
       10. The system according to  claim 1 , wherein the GUI window further includes:
 a predictive window configured to display a plurality of predictive metrics. 
 
     
     
       11. The system according to  claim 10 , wherein the predictive metrics include one or more of:
 patient chest motion during respiration, 
 a distance of movement of the region of interest during respiration, and 
 an indication of interaction with the region of interest. 
 
     
     
       12. The system according to  claim 1 , wherein the GUI window further includes:
 an indicator window configured to display:
 a tool indicator, 
 a respiratory indicator, and 
 a procedure indicator, 
 
 wherein the tool indicator indicates a type of tool being used during the surgical procedure, the respiratory indicator indicates a phase of the respiratory cycle, and the procedure indicator indicates a type of the surgical procedure. 
 
     
     
       13. The system according to  claim 1 , wherein the percutaneous tool is selected from the group consisting of:
 an aspiration needle, 
 an access tool, 
 a biopsy tool, and 
 an ablation tool. 
 
     
     
       14. A method for navigating to and interacting with a region of interest during a respiratory cycle of a patient, the method comprising:
 receiving a plurality of images of a patient's body; 
 generating a three-dimensional (3D) model of at least a portion of an interior of the patient's body and a 3D model of a region of interest based on the plurality of images; 
 detecting a position of a percutaneous tool inserted into the interior of the patient based on a tool sensor coupled to the percutaneous tool; 
 obtaining location and motion data corresponding to the tool sensor and a plurality of sensors disposed on the patient within an electromagnetic (EM) field generated by an EM tracking system; 
 correlating a location of the plurality of patient sensors within the EM field at a maximum inhalation point and a location of the plurality of patient sensors within the EM field at a maximum exhalation point to the plurality of images; 
 predicting movement of the interior of the patient, the percutaneous tool, and the region of interest based on the correlation between the location of the plurality of patient sensors within the EM field at the maximum inhalation point and the location of the plurality of patient sensors within the EM field at the maximum exhalation point to the plurality of images; and 
 displaying a graphical user interface (GUI), the GUI including:
 a model window configured to display a view of the 3D model of the interior of the patient, the percutaneous tool, the region of interest, and a rendering depicting the predicted movement of the interior of the patient, the percutaneous tool, and the region of interest throughout the respiratory cycle, wherein the rendering is user-manipulatable to display selective tissue, organs, or bones within the region of interest; and 
 a user-selectable button enabling a user to select a phase of the respiratory cycle and configured to stop movement of the rendering and display an image of the plurality of images of the patient's body associated with the phase selected. 
 
 
     
     
       15. The method according to  claim 14 , wherein predicting movement of the interior of the patient and the region of interest is based on the location and motion data of the plurality of sensors and the 3D model. 
     
     
       16. The method according to  claim 14 , wherein the GUI further includes an indicator window configured to display a tool indictor, a respiratory cycle indicator, and a procedure indicator,
 wherein the tool indictor indicates a type of tool being used during a surgical procedure, the respiratory cycle indicator indicates a position within a respiratory cycle, and the procedure indicator indicates a type of the surgical procedure. 
 
     
     
       17. The method according to  claim 14 , wherein the model window is further configured to display:
 a trajectory of the percutaneous tool; 
 a proposed trajectory of the percutaneous tool throughout the respiratory cycle; and 
 a proposed location of the region of interest throughout the respiratory cycle. 
 
     
     
       18. The method according to  claim 17 , wherein the proposed trajectory of the percutaneous tool and the proposed location of the region of interest change throughout the respiratory cycle. 
     
     
       19. The method according to  claim 17 , further comprising determining interaction with the region of interest based on the trajectory of the percutaneous tool, the proposed trajectory of the percutaneous tool, and the proposed location of the region of interest.